CX Robotics CXR Force-Controlled Rotary Actuator Series
Vendor: 长兴动力 CX Robotics (北京长兴动力机器人科技有限公司)
Product: CXR 系列力控旋转执行器
CX Robotics (Beijing Changxing Power Robot Technology Co., Ltd.) self-developed CXR force-controlled rotary actuator series integrating frameless torque motor, harmonic reducer, dual encoders and driver for precise force/position/velocity control; four sizes CXR-14/17/20/25 (the site's table mislabels the latter two as CXL-20/25) with rated torque 9.6/30/50/84 N.m, start-stop permissible torque 34/66/102/194 N.m, 29.7-34.6 rpm max output speed, customizable 30-120 reduction ratio, 0.86-2.7 kg mass, phi70-phi110 mm OD and phi6-phi12.5 mm hollow shaft; 17-bit magnetic dual-encoder closed loop with 20 arcsec repeatability, optional torque sensor (0.2% F.S. force control) and brake, 48 VDC, rated/max power 49/103 W up to 483/785 W. Suited to variable-load, variable-inertia humanoid robot joints.
| mass | 0.86 / 1.25 / 1.75 / 2.7 kg |
| brake | optional |
| models | CXR-14 / CXR-17 / CXR-20 / CXR-25 (site mislabels 20/25 as CXL-20/25) |
| encoder | 17-bit magnetic, dual-encoder closed loop, 20 arcsec repeatability |
| force sensor | optional torque sensor, 0.2% F.S. |
| hollow shaft | phi6 / phi9.5 / phi9.5 / phi12.5 mm |
| rated torque | 9.6 / 30 / 50 / 84 N.m |
| reduction ratio | 30-120 (customizable) |
| voltage / power | 48 VDC; rated-max 49-103 W / 177-314 W / 221-471 W / 483-785 W |
| max output speed | 34.6 / 29.7 / 29.7 / 29.7 rpm |
| outer diameter x length | 70x88 / 80x98 / 90x98 / 110x107 mm |
| avg load permissible torque | 13.5 / 49 / 61 / 133 N.m |
| start-stop permissible torque | 34 / 66 / 102 / 194 N.m |